ACC and AM braking range variable based on internal and external factors

• US 8,972,147 B2
• Filed: 06/28/2011
• Issued: 03/03/2015
• Est. Priority Date: 01/10/2011
• Status: Active Grant

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Inventors: Taneyhill, David J., Pilkington, Andrew J.
• Primary Examiner(s): Chen, Shelley
• Application Number:
  US13/170,529
• Publication Number:
  US 20120176234A1
• Time in Patent Office: 1,344 Days
• Field of Search: 701/96
• US Class Current: 701/96
• CPC Class Codes: B60K 2031/0041 Detecting lateral speed of target vehicle
• CPC Class Codes: B60K 2310/262 setting initial distance to preceding vehicle, e.g. initial algorithms
• CPC Class Codes: B60K 2310/264 changing distance, e.g. reducing the distance for overtaking
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering

Abstract

When employing an adaptive cruise-with-braking (ACB) system to control host vehicle braking reaction distance, a plurality of trigger conditions (e.g., environmental parameters) are monitored. If one or more of the monitored parameters exceeds a predefined threshold, a trigger event is detected, and at least one of a braking reaction distance (BRD) and a following distance limit shape (FDLS) are adjusted. The BRD and FDLS adjustments may be predefined according to the type and/or magnitude of the trigger event. Trigger events may be weighted or prioritized such that higher priority trigger event types correspond to larger BRD reductions, etc. Monitored trigger conditions may include adverse weather, dangerous road terrain or topography, high traffic density, erratic forward vehicle behavior, and the like.

Claims

1. An adaptive cruise-with-braking (ACB) system that facilitates modifying or adjusting a braking reaction distance as a function of a detected trigger event, comprising:

a sensor on a host vehicle that detects a forward vehicle;

a deceleration system that executes one or more deceleration requests;

a controller having a memory that stores, and a processor that executes, computer-executable instructions for;

setting an initial braking reacting distance (BRD);

defining a following distance limit shape (FDLS) as a function of a lateral offset function;

monitoring one or more trigger conditions;

detecting a trigger event;

at least one of;

adjusting the BRD by a predetermined distance; and

adjusting the shape of the FDLS;

as a function of the type of trigger event detected;

prior to detection of the trigger event, restricting foundation braking while permitting dethrottling and engine retardation; and

permitting foundation braking after detection of the trigger event.

2. The system according to claim 1, wherein the sensor includes at least one of a camera sensor and one or more radar sensors.

3. The system according to claim 1, wherein the FDLS comprises a lateral portion that is coincident with the BRD, and two longitudinal portions that extend from the lateral portion toward the host vehicle along a path defined by the lateral offset function.

4. The system according to claim 1, wherein a deceleration request is limited to request activation of at least one of a dethrottling module and an engine retarder when the forward vehicle has a lateral offset greater than or equal to a lateral offset defined by the lateral offset function.

5. The system according to claim 1, wherein restrictions on a deceleration request are removed to permit activation of foundation brakes when the forward vehicle has a lateral offset that is within the FDLS defined by the lateral offset function.

6. The system according to claim 1, wherein the computer-executable instructions further comprise:

detecting the trigger event by comparing a measured value for the one or more monitored trigger conditions to a respective corresponding predetermined threshold value for each of the respective trigger conditions; and

the predetermined distance being dependent on the type of trigger event detected.

7. The system according to claim 1, wherein the one or more monitored trigger conditions comprise one or more of:

a system fault condition;

input from a tire pressure monitoring system;

at least one of current and recent velocities of vehicles in the same or neighboring lanes as the host vehicle;

at least one of current and recent accelerations of vehicles in the same or neighboring lanes as the host vehicle; and

road terrain determined from global positioning system (GPS) information.

8. The system according to claim 1, wherein the one or more monitored trigger conditions comprises road surface conditions.

9. The system according to claim 1, wherein the one or more monitored trigger conditions comprises traffic density conditions.

10. The system according to claim 1, wherein the one or more monitored trigger conditions comprises activation of one or more of an antilock brake system (ABS), a traction control system, and a stability control system in the host vehicle.

11. The system according to claim 1, wherein a BRD reduction for a given trigger event is proportional to a weight assigned to the given trigger event, such that different trigger events result in BRD reductions of different magnitudes.

12. The system according to claim 1, further comprising a driver interface that receives from the ACC, and presents to the driver, an alert when one or both of the BRD and the FDLS are adjusted.

13. A method for modifying or adjusting a braking reaction distance as a function of a detected trigger event, comprising:

setting an initial braking reacting distance (BRD);

defining a following distance limit shape (FDLS) as a function of a lateral offset function;

monitoring one or more trigger conditions;

detecting a trigger event;

at least one of;

adjusting the BRD by a predetermined distance; and

adjusting the shape of the FDLS;

as a function of the type of trigger event detected;

prior to detection of the trigger event, restricting foundation braking while permitting dethrottling and engine retardation; and

permitting foundation braking after detection of the trigger event.

14. The method according to claim 13, further including:

detecting the trigger event by comparing a measured value for the one or more monitored trigger conditions to a respective corresponding predetermined threshold value for each of the respective trigger conditions; and

the predetermined distance being dependent on the type of trigger event detected.

15. The method according to claim 13, wherein the FDLS comprises a lateral portion that is coincident with the BRD, and two longitudinal portions that extend from the lateral portion toward the host vehicle along a path defined by the lateral offset function.

16. The method according to claim 13, further comprising limiting a deceleration request to request activation of at least one of a dethrottling module and an engine retarder when the forward vehicle is outside of the FLDS defined by the lateral offset function.

17. The method according to claim 13, further comprising removing restrictions on a deceleration request to permit a request for activation of foundation brakes when the forward vehicle is within the FDLS defined by the lateral offset function.

18. The method according to claim 13, wherein the one or more monitored trigger conditions comprise one or more of:

a system fault condition;

activation of one or more of an antilock brake system (ABS), a traction control system, and a stability control system in the host vehicle;

road surface conditions;

input from a tire pressure monitoring system;

traffic density conditions;

at least one of current and recent velocities of vehicles in the same or neighboring lanes as the host vehicle;

at least one of current and recent accelerations of vehicles in the same or neighboring lanes as the host vehicle; and

road terrain determined from global positioning system (GPS) information.

19. The method according to claim 13, further comprising assigning weights to each trigger event type, wherein a BRD reduction for a given trigger event is proportional to a weight assigned to the given trigger event, such that different trigger events result in BRD reductions of different magnitudes.

20. A processor or computer-readable medium programmed to perform the method of claim 13.